Problem Definition ReviewP16241 – AUTONOMOUS PEOPLE MOVER PHASE I I I
Team
AgendaBackground
Problem Statement
Stakeholders
Use Scenario
Customer Requirements
Engineering Requirements
Preliminary Schedule
Potential Risks
BackgroundRochester Institute of Technology is re-entering the field of autonomous vehicle research.
Research and development of autonomous vehicles are becoming more and more popular in the automotive industry. It is believed that autonomous vehicles are the future for easy and efficient transportation that will make for safer, less congested roadways.
Our project will follow the work completed by the Phase I and II teams.
Problem StatementRIT would like to showcase the capability of its engineering students by creating a fully
functional autonomous vehicle. It is believed that self-driving vehicles are the future for easy, efficient transportation that will make for safer, less congested roadways and a cleaner environment. The Autonomous People Mover (APM) at RIT would provide transportation for students and visitors across the campus at a moment’s notice. With the APM, no human driver is necessary. There have been two phases of this project so far. The first phase focused on modifying a golf cart into a remote controlled vehicle. The second phase is working on adding autonomous functionality to the APM for highly restricted settings.
The goal of Phase III is to analyze the APM’s current autonomous capabilities and to incorporate localization, path planning, path following, and object avoidance. The vehicle will provide a simple human-machine interface which will collect and display diagnostic information. To ensure the safety of the passengers and any bystanders, passengers will have the ability to take control of the vehicle at any time. The prototype will be showcased at Imagine RIT 2016 on a closed course with a trained backup driver on board for safety assurance.
Problem StatementCurrent State There have been two phases of this project so far. The first phase focused on modifying a golf cart into a
remote controlled vehicle. The second phase is working on adding autonomous functionality to the APM in highly restricted settings.
Desired State APM is capable of localization, path planning, path following, and object avoidance. APM provides a
simple human-machine interface which displays diagnostic information. Passengers have the ability to take control of the vehicle whether it is moving or stationary.
Project Goals APM can drive autonomously on a closed course while avoiding static and moving obstacles, staying on
the designated path, and maintaining the safety of passengers and bystanders
Constraints Phase II accomplishments; budget; time for research, testing, and debugging; maintaining the safety of
passengers and bystanders
StakeholdersPrimary Customer: Raymond Ptucha
Faculty Guide: Michael Blachowicz
RIT
Passengers
Bystanders
Phase III Team
Phase IV Team?
D3 Engineering
Example Use Scenario
Customer RequirementsCustomer
Rqmt. #Importance Description
CR1 9 APM must, at a minimum, be able to operate within a closed course in autonomous mode
CR2 9 APM must move forwards in autonomous mode
CR3 9 APM must have intelligent vehicle control: driving
CR4 9 APM must have intelligent vehicle control: steering
CR5 9 APM must have intelligent vehicle control: braking
CR6 6 APM must re-route path to avoid obstacle
CR7 9 APM must be able to detect obstacles and brake
CR8 3 APM must exhibit localization
CR9 3 APM must have diagnostic data logging capability
CR10 1 APM will have a display which will show it's location on a map, as well as diagnostic information
CR11 9 APM destination must be input via Secure Shell Protocol (SSH) or remote desktop to the onboard PC
CR12 9
APM must perform an emergency stop when a passenger hits the emergency stop button, or when the
remote control device activates the emergency stop
CR13 9 APM must have a way to switch between manual, remote, and autonomous modes
Engineering Requirements
Rqmt. # Engr. Requirement (metric)Unit of
Measure
Marginal
Value
Ideal
ValueComments/Status
S1 Driving Modes (Manual, RC, Autonomous) Pass / Fail
S2 Steering Control Precision Degrees ± 2 ± 1
S3 Steering Position Encoding Degrees ± 2 ± 1
S4 Speed Control MPH ± 1 (0.5) ± 0.5 (0.25)
S5 Speed Encoding MPH ± 1 (0.5) ± 0.5 (0.25)
S6 Maximum Speed MPH 10 (4.5) 12 (5.4)
S7 GPS Positioning Meters ± 5 ± 0.25
S8 Course: Arrive at planned destination Pass / Fail
S9 Course: Make turn when road turns Pass / Fail
S10 Course: Stop when stationary obstacle in way Pass / Fail
S11 Course: Stop when moving obstacle moves in way Pass / Fail
S12 Course: Slow down when approaching turn and speed up again after Pass / Fail
S13 Drive Forward Autonomously Pass / Fail
S14 Detection of Light Reflecting 10" x 10" Objects Within 3 Meters Percentage 99 100 180 degrees in front of car
S15 Detection of Sound Reflecting 1' x 1' Objects Within 1 Meter Percentage 99 100 180 degrees in front of car
S16 Minimum Stopping Distance (without hitting obstacle) Meters 5 3
S17 SSH Interface with onboard PC Pass / Fail
Engineering Requirements vs. Customer Requirements
Customer
Requirements Cu
sto
mer W
eig
hts
S1 S2 S3 S4 S5 S6 S7 S8 S9 S10 S11 S12 S13 S14 S15 S16 S17
CR1 9 X X X X X X X X X X X X X X
CR2 9 X X X X X
CR3 9 X X X X X X X X X X
CR4 9 X X X X X X
CR5 9 X X X X X X X
CR6 6 X X X X X X
CR7 9 X X X X
CR8 3 X X
CR9 3 X X X
CR10 1 X X X
CR11 9 X
CR12 9 X X
CR13 9 X
Preliminary Schedule
Potential RisksPhase II not completing requirements
Control system physically failing Steering
Brake
Throttle
Sensor Malfunction LiDAR
Ultrasonics
Visual cameras
GPS
Physical Vehicle Malfunction Damage to cart
Flat tire
Brakes locked out
Algorithm Failure Path planning
Obstacle avoidance
Potential Risks ContinuedWeather Issues Daylight
Snow/Ice
Rain
Heat
Computer Failure Bandwidth issues
Processing too slow
Software bugs
Malicious Actions Passenger
Bystander
Questions
Top Related